JP2013215800A - Welding apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continue welding by moving a welding torch along the target welding line at the predetermined speed, after a carriage reaches to a movable limit.SOLUTION: A welding apparatus includes: a torch B that welds a corner portion F where a plurality of welding materials C, D, E are combined; a linear driving mechanism that includes a linear guide member for guiding the torch B in a linear manner and a linear driving motor 22 to drive the torch B; a rotation mechanism that includes a rotation motor 15 to rotate at least the linear guide member composing the linear driving mechanism; a carriage A loaded with the linear driving mechanism and the rotation mechanism; and a control apparatus 25 that controls driving of the linear driving motor 22 and the rotation motor 15 so as to maintain a distance of the torch B from the corner F as well as maintain a welding speed, when it is recognized that the carriage moves a shorter distance than the predetermined welding distance.

Description

  According to the present invention, when the welding torch has not reached the end of the section to be welded even when the carriage reaches the travel limit, the torch holder holding the welding torch is linearly moved and swung to continue welding. In particular, the present invention relates to a welding apparatus that can reliably weld a corner formed by two steel plates whose end of a section to be welded stands from a bottom plate.

  2. Description of the Related Art Welding materials made of steel plates, stainless steel plates, aluminum plates, and the like are welded using a welding torch selected from a plasma welding torch, a carbon dioxide gas welding torch, an argon gas welding torch, and the like. In addition, many types of welding apparatuses equipped with a welding torch are provided, ranging from large apparatuses to small apparatuses.

  In the shipbuilding industry and the steel construction industry, the welded structure is often large, and many small welding apparatuses that are transported and operated by the operator to the target welding position are used. Such a small welding apparatus is generally configured to include a carriage that travels along a target welding line and a welding torch that is mounted at a substantially central portion of the carriage.

  The welding apparatus as described above can fillet weld the corners where the steel plates (bottom plates) arranged horizontally and the lower ends of the steel plates (standing plates) raised from the bottom plates intersect, It is used when butt-welding steel plates arranged opposite to each other. In such fillet welding and butt welding, it is common for the carriage to run on the bottom plate, and the end of the bottom plate is set with a travel limit to prevent it from falling from the bottom plate of the carriage. Yes. In this case, when the carriage reaches the travel limit, there arises a problem that the welding torch has not finished welding the target welding line.

  For this reason, a welding apparatus in which the welding torch is configured to be swingable with respect to the carriage has been proposed (see, for example, Patent Document 1). This technique realizes the movement of the welding torch in two directions with a single drive source, and enables reliable fillet welding.

  There is also provided a welding apparatus in which a holder for holding a welding torch is configured to be rotatable with respect to a carriage, a roller is provided at the tip of the holder, and the roller is pressed against an upright plate by a spring. In this welding apparatus, when the carriage reaches the travel limit, the carriage can be stopped and, at the same time, welding can be continued by turning the holder while maintaining the pressure contact state with the upright plate.

  In addition, when welding including fillet welding or butt welding is performed on the target weld line, a crater is formed at the end of the bead, but since the workers are processing individual craters, There is a problem that it takes time and effort. In order to solve this problem, a welding method described in Patent Document 2 has been proposed.

  This welding method is to temporarily stop the welding torch after the welding to the target welding line is finished and to reverse the welding torch by the length of the molten pool, and to treat the crater by overlaying the molten pool again. Thus, it is possible to prevent the occurrence of welding defects.

  Further, in a large member in a hull material or a bridge material, a plurality of ribs may stand up and be welded to a single steel plate. In particular, when the corners of a heavy box made of three steel plates are formed by intersecting ribs arranged in two directions, the corners may be continuously welded in two directions. . When performing fillet welding on such corner portions, it is common to use manual welding.

Japanese Patent Laid-Open No. 9-327775 JP-A-10-99965

  However, the welding apparatus disclosed in Patent Document 1 has a problem that the structure is complicated. Further, in the technology in which the holder is configured to be turnable on the carriage, the structure is simple, but there is a problem that the roller is easily exposed to heat, so that a problem is likely to occur. Thus, in a small welding apparatus, after the carriage reaches the travel limit, how to move the welding torch while maintaining the set welding speed to perform welding to the target welding line should be solved. It has become a challenge.

  In addition, when the section to be welded is set in two continuous directions including a corner portion where the bottom plate and the two standing plates rising from the bottom plate intersect, a carriage that travels linearly is used. When welding, the corner must be terminated, and the continuity of the beads at the corner becomes a problem. For this reason, as described above, it is common to perform manual welding by an operator. However, it is required to develop a welding apparatus capable of automatic welding even in such a corner portion.

  Further, in the welding method disclosed in Patent Document 2, there is a problem of how to configure an apparatus that realizes the welding method.

  An object of the present invention is to allow welding to be continued by moving the welding torch along a target welding line at a preset speed after the carriage reaches the travel limit, and to perform crater processing. It is in providing the welding apparatus which can do.

  In order to solve the above problems, a welding apparatus according to the present invention is a welding apparatus for welding a plurality of workpieces, and the workpieces are combined so that the plurality of workpieces approach or cross each other. A linear drive motor comprising: a welding torch that welds a portion; a linear guide member that linearly guides a torch holder that holds the welding torch; and a linear drive motor that reciprocally drives the torch holder along the linear guide member A mechanism, a rotation mechanism having a rotation motor for rotating at least a linear guide member constituting the linear drive mechanism, a carriage equipped with the linear drive mechanism and the rotation mechanism, and welding in which the carriage is preset. When it is recognized that the vehicle has traveled for a travel section shorter than the section, the linear drive is performed so that the welding torch maintains the distance from the workpiece and the welding speed. A control device for controlling the drive and Ta of the rotating motor and is formed with a.

  In the above welding apparatus, after the welding torch reaches the end position of the preset welding section, the control apparatus keeps the welding torch at a distance from the workpiece and at the same time as the welding speed. It is preferable to control the drive of the linear drive motor that constitutes the linear drive mechanism and the rotary motor that constitutes the rotary mechanism so as to be reversed with respect to the welding direction of the carriage.

  In any of the above welding apparatuses, the plurality of materials to be welded include a bottom plate and an upright plate standing on the bottom plate, and the welded portion is a corner between the bottom plate and the lower end of the upright plate, and the bottom plate An abutting member disposed on the downstream side in the traveling direction of the carriage, a switch disposed at an end portion in the traveling direction of the carriage to generate a signal by contacting the abutting member, and from the switch It is preferable to have a control device for controlling the drive of the linear drive motor and the rotation motor so that the welding torch maintains the distance from the welded part and the welding speed based on the signal.

  In any of the above-described welding apparatuses, the plurality of materials to be welded are disposed on the bottom plate, the first standing plate standing on the bottom plate, and the bottom plate on the downstream side in the traveling direction of the carriage, and the first It consists of the 2nd standing plate which contact | abutted with 1 standing plate, and the said to-be-welded part has the 1st corner part which the said bottom plate and the said 1st standing plate lower end contact, and the said bottom plate and the said 2nd standing plate lower end. A second corner portion that abuts, and a corner portion that connects the first corner portion and the second corner portion, and the corner at the second corner portion from the first corner portion through the corner portion. A switch disposed near an end of the carriage in the traveling direction and generating a signal by contacting the second upright plate, and a welding torch is attached to the welded part based on the signal from the switch The distance from the front and the welding speed are maintained, and the front from the first corner through the corner It is preferred to have a control device for controlling the driving of the linear drive motor and the rotating motor so as to continuously to the second corner portion.

  In the welding apparatus according to the present invention, the torch holder that holds the welding torch is driven by the linear drive mechanism and the rotation mechanism controlled by the control device. For this reason, the linear drive motor that constitutes the linear drive mechanism and the rotation motor that constitutes the rotation mechanism are driven and controlled in synchronization, so that the welding torch can be welded even when the carriage stops traveling. The distance from the material can be maintained and the welding speed can be maintained to continue the movement.

  Therefore, regardless of whether the target welding is fillet welding or butt welding, after the carriage reaches the travel limit and stops, only the welding torch is moved to achieve good welding over the entire length of the target welding line. It can be performed. In particular, even in a region where the target welding is closed like fillet welding reaching the corner of the box, only the welding torch can be moved to achieve good fillet welding.

  The linear drive mechanism has a linear guide member that linearly guides the torch holder, and the structure of the welding torch can be simplified by synchronizing the linear drive motor and the rotation motor. it can. Moreover, since the torch holder is not brought into direct contact with the material to be welded, it is possible to prevent the occurrence of problems due to heat.

  In addition, after the welding torch reaches the end position of the preset welding section, the welding torch is held back at a distance from the material to be welded and at the same time the welding speed is held back to the welding direction of the carriage. Thus, by controlling the drive of the linear drive motor and the rotation motor, the crater process can be performed by building up on the molten pool serving as a crater.

  In addition, a plurality of materials to be welded are composed of a bottom plate and an upright plate standing on the bottom plate. When fillet welding is performed on the corners of these plates, a contact member is arranged on the bottom plate on the downstream side in the traveling direction of the carriage. The welding torch keeps the welding distance from the welded part and the welding speed based on the signal generated when the switch arranged at the end in the traveling direction of the carriage comes into contact with the contact member. By controlling the drive of the linear drive motor and the rotation motor as described above, good fillet welding can be performed.

  In addition, a plurality of materials to be welded include a bottom plate, a first upright plate standing on the bottom plate, and a second upright plate in contact with the first upright plate, and the welded portion includes a bottom plate and a first upright plate lower end. A first corner that abuts, a second corner that abuts the bottom plate and the lower end of the second upright plate, and a corner that connects the first corner and the second corner. A switch that generates a signal in contact with the second upright plate at the end in the traveling direction of the carriage when it is close to the corner of the second corner through the section, and the signal from the switch Based on the linear drive motor and the rotation motor, the welding torch keeps the distance from the welded part and keeps the welding speed so as to continue from the first corner to the second corner. By controlling the driving of, good fillet welding including the corner portion can be realized.

It is a perspective view explaining the structure of the welding apparatus which concerns on a present Example. It is a block diagram of the control system which concerns on a present Example. It is a figure explaining the attitude | position of the welding torch at the time of performing fillet welding. It is a figure explaining the movement state of the torch at the time of moving a welding torch to the terminal end of the target welding line after a cart reaches the runnable limit. It is a figure explaining a state when the welding torch is arrange | positioned in the start end vicinity of the target welding line. It is a figure explaining a motion of a welding torch after a cart reaches a runnable limit. It is a figure explaining the motion of the welding torch at the time of performing fillet welding continuously from the corner corner welding after the carriage reaches the travelable limit.

  The welding apparatus according to the present invention will be described below. The welding apparatus according to the present invention is configured to be advantageously used when a plurality of workpieces are fillet welded or butt welded. In the present invention, the material of the material to be welded is not particularly limited, and a steel plate, a stainless steel plate, an aluminum plate, or the like is used. And, regardless of the material, it is used for fillet welding or butt welding, especially for fillet welding including a corner portion formed by crossing a plurality of upright plates from the bottom plate. It is advantageous.

  The welding torch used when welding the workpiece is selected according to the material of the workpiece. Examples of such welding torches include a welding torch for performing carbon dioxide arc welding, a welding torch for performing plasma welding, and a welding torch for performing argon gas welding.

  In the welding apparatus according to the present invention, the torch holder that holds the welding torch is configured to be rotatable about a rotation center provided on the carriage and to be linearly movable on a radius centered on the rotation center. Has been. Then, after the carriage reaches the travel limit and stops, the torch holder is rotated about the rotation center and linearly moved in the radial direction, thereby maintaining the distance from the welded portion of the welding torch. It is possible to continue welding at a preset welding speed.

  Further, in the welding apparatus according to the present invention, after welding to the end with respect to the target welding line by a welding torch, the torch holder is moved backward while maintaining the stopped state of the carriage, and the torch is operated in the process of this backward movement. Crater treatment can be performed.

  In the welding apparatus according to the present invention, the method for recognizing that the carriage has reached the travelable limit is not limited. For example, information on the length (distance) that the carriage can travel along the target weld line is input in advance to a control device that controls the traveling motor of the carriage, and this input information and information on the rotation command for the traveling motor are obtained. When they match, it is possible to recognize that the travel limit has been reached. It is also possible to detect that the rotation of the travel motor is detected by a rotary encoder and integrate it, and recognize that the carriage has reached the travel limit when the integrated value matches input information previously input to the control device.

  Furthermore, for example, a contact member such as a magnet is fixed to the end of a steel plate (bottom plate) installed in a horizontal direction, and a switch provided on a carriage that runs on the bottom plate comes into contact with the contact member. It is possible to recognize the travel limit by the signal. In particular, two upright plates that have a corner portion at the intersecting portion by standing with respect to the bottom plate stand upright, and the intersection between the lower end portion of one of the standing plates and the bottom plate is a corner portion. When performing so-called box welding in which fillet welding is performed up to, it is also possible to recognize the travel limit by a signal generated by bringing a switch into contact with one of the intersecting upright plates.

  Hereinafter, the welding apparatus according to the present embodiment will be described with reference to the drawings. The welding apparatus according to the present embodiment is configured to have a carriage A equipped with a carbon dioxide welding torch as the torch B.

  As shown in FIGS. 1 and 3 to 5, the carriage A has a plurality of wheels 2 that are driven by a casing 1 and a drive motor 3, and one side of the upper portion of the casing 1 (this embodiment). Then, since the torch holder 17 (the torch holder 17 holds the torch B on the left side in each drawing), the torch holder 17 and the torch B are substantially integrated. Or a torch B) and a linear drive mechanism. An operation panel 10 is disposed on the other side of the upper portion of the casing 1 (the right side in each drawing in this embodiment).

  Switches 4a and 4b are respectively arranged on both end faces of the casing 1 in the traveling direction. When a signal is generated from the switch 4a or the switch 4b, the carriage A reaches the travelable limit in the control device. It is configured so that it can be recognized. It should be noted that the switch 4a, 4b is not limited to which switch is used, and a signal is generated and transmitted to the control device when the vehicle A is in contact with an obstacle (contact member) during the traveling of the vehicle A. Any signal can be used as long as it can stop the signal when it leaves the object. In this embodiment, limit switches are used as the switches 4a and 4b.

  In the case of a welding apparatus, there is a possibility that a malfunction may occur in the bead if the carriage is stopped instantaneously when the carriage reaches the travel limit. For this reason, when the signal is generated from the switch 4a or the switch 4b, the drive of the drive motor 3 is stopped, but the carriage A is configured to travel a small distance due to inertia. Accordingly, the switches 4a and 4b are configured to absorb the distance traveled by the carriage A after generating a signal.

  Further, on both end faces of the casing 1 in the traveling direction, arms 5b and 6b having rollers 5a and 6a rotatably attached to the tip portions are arranged. The arms 5b and 6b have the rollers 5a and 6a arranged on the same side as the torch B, and the protruding dimension of the roller 5a at the rear in the traveling direction from the casing 1 is larger than the protruding dimension of the front roller 6a from the casing 1. It is attached in this way.

  And when making the trolley | bogie A drive, it arrange | positions in the state which made the roller 5a, 6a contact the standing board, and inclines the running direction of the trolley | bogie A toward the standing board. Therefore, as the carriage A travels, the rollers 5a and 6a rotate while being pressed against the upright plate. As a result, the wheel 2 slips, and as a result, the carriage A surely follows the upright plate. It is possible to travel in the direction.

  The rotation mechanism of the torch B formed on the upper portion of the casing 1 includes a rotation motor 15 fixed to the casing 1 with a rotation shaft arranged vertically, and a clockwise and counterclockwise direction driven by the rotation motor 15. And a plate-like rotation member 16 that reciprocally rotates in the clockwise direction. Since the rotation motor 15 and the linear drive motor 22 described later are housed inside the case, the positions are indicated by a circle and a center in each figure.

  It is not limited how many times the torch B is rotated around the rotation center by the rotation mechanism, but the dimensions of the carriage A, the position of the rotation center in the carriage A, the dimensions of the torch B, etc. It is preferable to set appropriately according to the conditions. In the present embodiment, it is configured to be able to rotate about 120 degrees at the maximum around the center of rotation. That is, when the center of the torch B is set to be perpendicular to the traveling direction of the carriage A, the torch B can rotate 60 degrees upstream and downstream in the traveling direction of the carriage A, respectively.

  The rotating member 16 has a linear guide member (not shown), and the linear drive mechanism is configured such that linear movement is guided by the linear guide member. The configuration of the linear guide member is not particularly limited, and includes a pair of rails and a movable member movable along the rails, a pair of dovetail molds and dovetail grooves, and the like. It is possible to adopt.

  In the present embodiment, a pair of rails arranged in parallel is fixed to a position of the rotation member 16 with the rotation motor 15 interposed therebetween, and the base member 20 constituting the linear movement mechanism is linearly moved by this rail. It is configured so that it can be guided.

  A rack 21 (see FIGS. 4 and 5) is disposed along a rail fixed to the rotating member 16, and the rack 21 is fixed to the rotating member 16. A linear drive motor 22 is provided at a position corresponding to the rack 21 above the base member 20, and a pinion (not shown) attached to the linear drive motor 22 meshes with the rack 21. Therefore, when the linear drive motor 22 is driven, the base member 20 can move linearly.

  A torch adjusting device 18 that adjusts the attitude of the holder 17 that holds the torch B is configured on the base member 20. The torch adjusting device 18 includes a holding member 18a for rotating and fixing and holding the holder 17, a loading / unloading adjusting member 18b for adjusting the loading / unloading of the holding member 18a, and a height adjusting member for adjusting the height of the holding member 18a. 18c. The torch adjusting device 18 having the members 18a to 18c may have the same structure as that used in a conventional welding device.

  An operation panel 10 disposed at the upper part of the casing 1 includes a push button switch 10a for operating the drive of the carriage A, an operation dial 10b for operating the variable resistor, a select switch 10c for selecting a welding mode, A connector 10d to be connected and a display unit 11 for displaying an operation function, input data, or an operating state are provided.

  In the figure, reference numeral 8 denotes a handle used when the carriage A is transported.

  Next, the control system of the welding apparatus will be described with reference to FIG. In the figure, the control device 25 is provided inside a control panel 10 disposed at the upper part of the casing 1 of the carriage A. The control device 25 is operated based on a preset welding program, an operation program for the carriage A corresponding to the operation of the pushbutton switch 10a, the operation dial 10b, and the select switch 10c, and a signal from the switch 4a or the switch 4b. A program for moving the torch B by driving the moving motor 15 and the linear drive motor 22 synchronously, and a program for performing crater processing by moving the torch B backward after the torch B is moved by the program. , A predetermined calculation or determination is performed based on signals from the storage unit that stores the operation program of the carriage A, the push button switch 10a, the operation dial 10b, the select switch 10c, and the switch 4a or the switch 4b. And each motor 3, 15, 22 based on the judgment result. It controls the drive, or the control unit for controlling the driving of the torch B, and is constituted by a computer including a.

  In particular, the program for moving the torch B by driving the rotation motor 15 and the linear drive motor 22 in synchronization is like butt welding or a corner between one standing plate and the bottom plate standing up from the bottom plate. When the target weld line is straight until reaching the end, it has a corner part composed of two standing upright plates and a bottom plate, and the target weld line ends through the corner part. The case where the welding direction is changed during each of the steps is set, and these programs can be selected by operating the select switch 10c.

  The operation dial 10b is configured to be able to operate the variable resistor, and is configured to be able to adjust the traveling speed of the carriage A by rotating the operation dial 10b. In addition, the welding mode can be selected and set by operating the select switch 10c. The push button switch 10a is configured to generate a signal for starting or stopping the traveling or welding of the carriage A.

  In particular, the variable resistor operated by the operation dial 10b can exhibit both the function as a speed regulator and the function as a switch for generating a signal (current value signal) composed of a current value. Is possible. That is, the variable resistor can exhibit a speed adjustment function or a function as an operation condition changing means in accordance with whether the carriage A is in a running state or in a stopped state.

  For example, when the carriage A is in a running state, the variable resistor (operation dial 10b) exhibits a speed adjustment function, and the indication part of the operation dial 10b is in any one of the ranges of 0 to 10 provided around. By specifying, it is possible to adjust the traveling speed to a specified value.

  Further, when the carriage A is in a stopped state, the variable resistor can function as an operating condition changing means having a preset index set point corresponding to a preset position in the index. Is possible. That is, when the carriage A is stopped, the indicator of the variable resistor is adjusted to the index set point selected from a plurality of preset index set points of the index, thereby corresponding to each index set point. It is possible to configure so that the generated signal can be generated.

  When the control device 25 receives a signal corresponding to each index set point, the control device 25 performs a function corresponding to each signal, for example, to travel in a direction opposite to the travel direction currently set for the carriage A. The function of switching the traveling direction or the function of switching the test mode, which is the ignition operation mode of the torch B, or the auto mode consisting of a series of operations such as gas supply to the torch B, energization, wire supply, etc. Is possible.

  Next, regarding the operation when performing fillet welding by the welding apparatus configured as described above, in particular, the target welding line is the corner between the bottom plate and the lower end of one upright plate, and the end is the corner portion. A case will be described with reference to FIG.

  As shown in the figure, the plurality of materials to be welded are composed of a material to be welded (bottom plate) C arranged horizontally and an upright plate D standing up with respect to the bottom plate C. It is comprised so that fillet welding may be performed with respect to the corner | angular part F comprised by the lower end of the standing board D. FIG. In particular, the contact plate E functioning as a contact member rises from the bottom plate C and is disposed so as to intersect the upright plate D, and the intersecting portion with the upright plate D is formed as a corner portion G.

  Then, the carriage A is placed on the bottom plate C, and as shown in FIGS. 1 and 3, the torch B is inclined obliquely with the tip approaching the corner F, and the plan view is substantially perpendicular to the upright plate D. Arrange so that At this time, the distance and posture from the corner F of the torch B are set to the distance and posture set according to the conditions such as the thickness and material of the bottom plate C and the upright plate D by operating the torch adjusting device 18. Set.

  With the torch B held at a predetermined distance and posture with respect to the corner F as described above, the operation dial 10b provided on the operation panel 10 is operated to set the traveling direction and traveling speed, and the select switch 10c. To set the welding mode when the target weld line is a straight line until reaching the end. Thereafter, the pushbutton switch 10a is operated to start fillet welding on the corner F by the torch B, and at the same time, the carriage A is moved in the direction of arrow a (FIG. 6A).

  When the carriage A (switch 4a) comes into contact with the contact plate E by traveling of the carriage A in the direction of arrow a, a signal is generated from the switch 4a and transmitted to the control device 25. From this signal, it is recognized that the carriage A has reached the travel limit. In this state, the torch B has not completed fillet welding on the corner F of the bottom plate C and the upright plate D.

  For this reason, after recognizing that the carriage A has reached the travel limit, as shown in FIG. 6B, the torch B is rotated about the rotation center H (the rotation motor 15) and rotated. A linear movement (advance) is performed in a direction to approach the upright plate D along a radius centered on the center H. That is, the torch B is rotated by the angle r at the angular velocity Vr counterclockwise around the rotation center H. At the same time, the torch B is moved forward by a distance f at a speed Vf along a radius centered on the rotation center H.

  The drive of the drive motor 3 is stopped from the moment when the signal is generated from the switch 4a, and the carriage A continues traveling by the inertial force while reducing the speed. The rate of decrease in the speed of the carriage and the travel distance at this time can be measured when the welding apparatus is completed, and do not change greatly even if the period of use increases. Therefore, after the signal is generated from the switch 4a, the counterclockwise rotation and the forward movement of the torch B are controlled in consideration of the rate of decrease in the speed of the carriage A. Regardless of the rotation angle, it is possible to keep the distance from the corner F of the tip of the torch B substantially constant and keep the speed in the direction of the arrow a substantially constant.

  The rotation angle r and the linear movement distance f of the torch B are uniquely determined as the distance from the end of the carriage A to the rotation center H and the distance from the tip of the torch B to the corner F are set. Is set. Further, the angular velocity Vr and the linear movement measure Vf when the torch B is rotated are uniquely set as the welding speed is set corresponding to the thickness and material of the bottom plate C and the upright plate D. .

  Therefore, information on mechanical dimensions including the distance from the end of the carriage A (switch 4a) to the rotation center H (rotation motor 15) and the welding speed at the time of welding the corner F to the control device 25 in advance. By inputting the welding information including it, it is possible to calculate the rotation angle r, the angular velocity Vr, the linear moving distance f, and the linear moving velocity Vf as conditions for moving the torch B.

  When it is recognized by the signal from the switch 4a that the carriage A has reached the travel limit, the torch B is controlled by controlling the driving of the rotating motor 15 and the linear drive motor 22 by the data of the calculation result. It is possible to continue welding to the corner F to the corner G while moving as described above. Thus, when fillet welding with respect to the corner F approaches the corner G, the torch B reaches the vicinity of the end of the carriage A in the traveling direction.

  By continuing fillet welding to the corner F by the torch B as described above, it is possible to reliably weld to the corner G, which is the intersection of the upright plate D and the contact plate E. However, when welding is terminated at this stage, a crater is generated at the corner G.

  For this reason, after the carriage A reaches the travelable limit, the drive of the rotation motor 15 and the linear drive motor 22 is controlled so that the torch B is returned in the same condition as when the torch B is moved. That is, the linear drive motor drives the rotation motor 15 so that the torch B rotates at the rotation angle r and the angular velocity Vr in the clockwise direction, and simultaneously retracts the torch B at the linear movement distance f and the linear movement speed Vf. 22 is driven.

  Then, at the same time as the torch B reverses, it is possible to reduce the welding current and continue the welding to the corner F by the torch B, so that the crater can be overlaid and the crater process can be performed.

  When the cart A shown in FIG. 3 is placed on the bottom plate C when starting the target welding, the rear end of the cart A (the end on the side where the switch 4b is disposed) and the torch B There is a risk that welding may not be possible. In this case, while the carriage A is stopped and the torch B is in operation, as shown in FIG. 5, the turning motor 15 is driven to move the torch B clockwise and the torch B is advanced. By driving the linear drive motor 22 as described above and then performing welding while rotating the torch B counterclockwise and retracting it, it is possible to eliminate the unweldable portion.

  Then, after the torch B assumes the posture shown in FIG. 3, the fillet welding to the corner F can be continued by causing the carriage A to travel in the direction of the arrow a.

  In the above embodiment, the welding apparatus is configured for fillet welding, but is not necessarily limited to fillet welding, and can be configured for butt welding. In the case of a welding apparatus for butt welding, a torch is arranged perpendicular to a pair of materials to be welded, so a torch holder (not shown) that holds the torch B substantially perpendicular to the materials to be welded. It is possible to respond by exchanging.

  By configuring the welding apparatus as described above, the torch can be rotated and moved forward after the carriage reaches the travel limit, and welding with the torch is continued along with this movement. Even if it is butt welding, it is possible to weld the target weld line over the entire length.

  Furthermore, after the butt welding is completed, the crater process can be performed by continuing the welding in which the welding current is reduced while reversing the torch.

  Next, the target welding line is a corner portion of the bottom plate and the lower ends of the two upright plates, and a corner portion constituted by these, and the terminal end includes the corner portion and is in a position beyond the corner portion. A case will be described with reference to FIG.

  In this embodiment, the welding from the corner F (first corner Fa) to the corner G of the bottom plate C and the lower end of the upright plate D (first upright plate D) is performed as described above with reference to FIG. Since this is the same as the above, description thereof is omitted. In the figure, the same parts as those in FIG.

  In this embodiment, the plurality of materials to be welded include a bottom plate C arranged horizontally, a first upright plate D standing up with respect to the bottom plate C, and intersecting with the first upright plate D upstanding from the bottom plate C. The corner portion G is formed at a portion where the first upright plate D and the second upright plate E intersect each other. Moreover, the target welding line was comprised by the bottom plate C and the lower end of the 2nd standing plate E through the corner part G from the 1st corner Fa comprised by the bottom plate C and the lower end of the 1st standing plate D. It is set to reach the second corner Fb. That is, the target weld line is set in two directions including the corner portion G (first corner portion Fa to corner portion G to second corner portion Fb).

  First, the carriage A is placed on the bottom plate C so as to correspond to the first corner portion Fa, and the torch B is held at a predetermined distance and posture with respect to the first corner portion Fa. Then, the operation dial 10b provided on the operation panel 10 is operated to set the traveling direction and the traveling speed, the select switch 10c is operated, and the intersecting first upright plate D, second upright plate E and bottom plate C are used. A welding mode is set in the case where the welding direction is changed while the target welding line reaches the terminal end with the configured corner portion G. Thereafter, the pushbutton switch 10a is operated to start fillet welding to the corner F by the torch B, and at the same time, the carriage A is moved in the direction of arrow a (FIG. 7A).

When the carriage A (switch 4a) comes into contact with the second upright plate E by traveling of the carriage A in the direction of arrow a, a signal is generated from the switch 4a and transmitted to the control device 25. From this signal, it is recognized that the carriage A has reached the travel limit. Thereafter, as shown in FIG. 6B, the torch B is rotated about the rotation center H (the rotation motor 15), and the first upright plate D is moved along a radius centered on the rotation center H. By moving in a straight line (advancing) in the approaching direction,
It is possible to continue the fillet welding on the first corner Fa to the corner G that is the intersection of the first upright plate D and the second upright plate E.

  Then, after performing fillet welding from the first corner Fa to the corner G, the torch B is further rotated counterclockwise about the rotation center H and the radius about the rotation center. , The welding is continued from the corner portion G toward the second corner portion Fb by linearly moving (retracting) in the direction to be separated from the second upright plate E along the direction.

  After the switch 4a provided at the end of the carriage A contacts the second upright plate E, the rotation angle of the rotation member 16 until the torch B reaches the corner G, the second upright from the corner G Numerical values such as the rotation angle of the rotation member 16 corresponding to the fillet weld length with respect to the plate E, the linear movement distance f, and the like are the distance from the end of the carriage A to the rotation center H, the allowable rotation of the rotation member 16. It is uniquely set as conditions such as the moving angle and the distance from the tip of the torch B to the first corner portion Fa and the second corner portion Fb are set. Further, the angular velocity Vr and the linear movement measure Vf when the torch B rotates are uniquely set as the welding speed is set.

  Therefore, information on the mechanical dimensions including the distance from the end of the carriage A (switch 4a) to the rotation center H (rotation motor 15), the welding length for the second corner Fb, the first By inputting welding information including the welding speed when welding the corner Fa and the second corner Fb, the rotation angle r, the angular velocity Vr, the linear movement distance f, and the linear movement speed as conditions for moving the torch B Vf can be calculated.

  When it is recognized by the signal from the switch 4a that the carriage A has reached the travel limit, the first corner portion is controlled by controlling the rotation motor 15 and the linear drive motor 22 based on the data of the calculation result. It is possible to continue fillet welding from Fa to the corner G.

  When the rotation angle r of the torch B is detected by the rotation of the rotation motor 15 and it is recognized that the torch B has reached the corner G, the rotation of the linear drive motor 22 is maintained while maintaining the rotation of the rotation motor 15. , The torch B can be moved away from the first upright plate D while maintaining a substantially constant distance from the second upright plate E. Then, in the process in which the rotation motor 15 maintains the rotation in the same direction and the linear drive motor 22 reverses, the torch B can transition from the corner portion G to the second corner portion Fb and perform fillet welding. Is possible.

  As described above, after fillet welding is transferred from the corner portion G to the second corner portion Fb, there is no limitation to the extent of the weld length for the second corner portion Fb. That is, fillet welding with respect to the second corner Fb does not involve traveling of the carriage A, but simply depends on the rotation of the rotating member 16 by the rotating motor 15.

  Therefore, in this embodiment, the rotation member 16 (torch B) is configured to be able to rotate about 120 degrees around the rotation center H. For this reason, the distance from the corner portion G to the end of the weld line set at the second corner portion Fb is a position where the torch B is rotated about 60 degrees around the rotation center H.

  As described above, it is possible to carry out continuous fillet welding from the first corner Fa to the second corner Fb through the corner G. Then, by continuously welding both sides including the fillet portion G in this way, it is not necessary to overlap the bead at the corner portion G or at a very close position, and a good bead maintaining continuity can be formed. It becomes possible.

  When fillet welding is completed at the second corner Fb, a crater is generated in the bead at the end. For this reason, it is possible to build up the crater and perform crater treatment by reversing the torch B and simultaneously reducing the welding current and continuing the welding to the second corner Fb by the torch B. .

  The welding device according to the present invention is advantageous when the torch B does not finish welding the target welding line even when the carriage A reaches the travel limit.

A Cart B Torch C Bottom plate D Standing plate, 1st standing plate E Contact plate, 2nd standing plate F Corner Fa First corner Fb Second corner G Corner corner H Center of rotation 1 Casing 2 Wheel 3 Drive Motor 4a, 4b Switch 5a, 6a Roller 5b, 6b Arm 8 Handle 10 Operation panel 10a Push button switch 10b Operation dial 10c Select switch 11 Display unit 15 Rotating motor 16 Rotating member 17 Holder 18 Torch adjusting device 18a Holding member 18b Adjustment member 18c Height adjustment member 20 Base member 21 Rack 22 Linear drive motor 25 Control device

Claims (4)

A welding device for welding a plurality of workpieces,
A welding torch for welding the welded parts combined so that the plurality of welded materials approach or intersect each other;
A linear drive mechanism having a linear guide member that linearly guides the torch holder that holds the welding torch, and a linear drive motor that reciprocates the torch holder along the linear guide member;
A rotation mechanism having a rotation motor for rotating at least the linear guide member constituting the linear drive mechanism;
A carriage equipped with the linear drive mechanism and the rotation mechanism;
When recognizing that the carriage has traveled for a traveling section shorter than a preset welding section, the linear drive motor and the linear drive motor are configured to maintain the welding speed while maintaining the distance from the material to be welded. A control device for controlling the driving of the rotating motor;
A welding apparatus comprising:   After the welding torch reaches the end position of the preset welding section, the control device maintains the welding torch distance from the material to be welded and keeps the welding speed to the welding direction of the carriage. 2. The welding apparatus according to claim 1, wherein the linear driving motor that constitutes the linear driving mechanism and the rotation motor that constitutes the rotating mechanism are controlled so as to be reversed. The plurality of materials to be welded include a bottom plate and an upright plate standing on the bottom plate, and the welded portion is a corner between the bottom plate and the upright plate lower end,
An abutting member disposed on the bottom plate and downstream of the carriage in the traveling direction;
A switch that is disposed at an end of the carriage in the traveling direction and generates a signal by contacting the contact member;
A control device for controlling the driving of the linear drive motor and the rotary motor so as to maintain the welding torch at a distance from the welded portion and the welding speed based on a signal from the switch;
The welding apparatus according to claim 1, wherein the welding apparatus includes: The plurality of materials to be welded include a bottom plate, a first standing plate standing on the bottom plate, and a second standing plate disposed on the bottom plate on the downstream side in the traveling direction of the carriage and in contact with the first standing plate. Become
The welded portion includes a first corner where the bottom plate and the lower end of the first standing plate abut, a second corner where the bottom plate and the lower end of the second standing plate abut, and the first corner. The second corner includes a connecting corner, from the first corner through the corner to the vicinity of the corner at the second corner;
A switch that is disposed at an end of the carriage in the traveling direction and generates a signal in contact with the second upright plate;
Based on the signal from the switch, the welding torch is maintained at a distance from the welded part and at a welding speed so as to continue from the first corner to the second corner through the corner. A control device for controlling the drive of the linear drive motor and the rotation motor;
The welding apparatus according to claim 1, wherein the welding apparatus includes:

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